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In this paper we present in detail a new efficient linear time and space suffix array construction algorithm(SACA), called the D-Critical-Substring algorithm. The algorithm is built upon a novel concept called fixed-size D-Critical-Substrings, which allow us to compute suffix arrays through a balanced combination of the bucket-sort and the induction sort. The D-Critical-Substring algorithm is very simple, a fully-functioning sample implementation of which in C++ is embodied in only about 100 effective lines. The results of the experiment that we conducted on the data from the Canterbury and Manzini-Ferragina corpora indicate that our algorithm outperforms the two previously best-known linear time algorithms: the Kärkkäinen-Sanders (KS) and the Ko-Aluru (KA) algorithms.